F1: A Vision Language Action Model Bridging
Understanding and Generation to Actions

👁 Paper
👁 Code
👁 Website

🚀 Key Innovations

• 🧠 Predictive Inverse Dynamics: Visual foresight generation for planning-based control
• 🏗️ Mixture-of-Transformer: Three specialized experts (Understanding, Generation, Action)
• 📈 Three-Stage Training: Progressive alignment, pretraining, and adaptation

🤖 Real-World Robot Experiments

📊 Performance Summary

Usage

Please refer to our official repo F1-VLA.

📚 Citation

If you find our work helpful, please cite:

@article{f1_vla_2025,
 title={F1: A Vision Language Action Model Bridging Understanding and Generation to Actions},
 author={Qi Lv and Weijie Kong and Hao Li and Jia Zeng and Zherui Qiu and Delin Qu and Haoming Song and Qizhi Chen and Xiang Deng and Jiangmiao Pang},
 journal={Conference/Journal Name},
 year={2025},
 url={https://arxiv.org/abs/2509.06951}
}

License

This work is under the cc-by-nc-sa-4.0.

Acknowledgements

This repository is based on Lerobot, Any4lerobot, and VAR.